Tower damping control method and related device for multi-rotor wind turbine

Abstract

The present application discloses a tower damping control method and related device for a multi-rotor wind turbine. The tower damping control system includes a common sensor shared by multiple rotors, an independent controller corresponding to each rotor, and an independent pitch actuator. After collecting vibration data of the multi-rotor wind turbine through the common vibration sensor, the independent controller determines the target vibration data corresponding to the independent rotor based on the vibration data and the target coefficient corresponding to the independent rotor. The target tower damping corresponding to the independent rotor is determined based on the target vibration data, so that the independent pitch actuator performs pitch control according to the target tower damping. As a result, each rotor performs pitch control according to the required target tower damping, eliminating the need for a central control unit for the tower damping control system of the multi-rotor wind turbine, reducing the manufacturing cost of the wind turbine, and at the same time reducing internal cable connections and improving the reliability of the wind turbine.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a tower damping control method and related devices for a multi-rotor wind turbine. Background Art

[0002] The amplitude of the tower's oscillations at critical wind speeds depends on the wind turbine tower's structural damping. Without additional damping, the oscillations can cause significant deflection of the wind turbine tower. This can lead to structural damage and / or damage to equipment or personnel within the wind turbine tower.

[0003] To avoid these issues, related art implements pitch-based tower damping by adjusting the pitch of the nacelle units corresponding to each rotor in a multi-rotor wind turbine. Specifically, a central control unit measures tower vibration (acceleration or velocity), calculates a control reference for the nacelle units corresponding to each rotor in the multi-rotor generator, and then transmits this reference to the corresponding nacelle units to implement pitch control.

[0004] However, the manufacturing cost of this type of multi-rotor wind turbine is high and the reliability is low. Summary of the Invention

[0005] In response to the above problems, the present application provides a tower damping control method and related devices for a multi-rotor wind turbine, thereby reducing the manufacturing cost of the multi-rotor wind turbine and improving reliability.

[0006] Based on this, the embodiments of this application disclose the following technical solutions:

[0007] In one aspect, an embodiment of the present application provides a tower damping control system for a multi-rotor wind turbine, the system comprising: an independent controller and an independent pitch actuator corresponding to each rotor in the multi-rotor, and a common vibration sensor shared by the multiple rotors;

[0008] The common vibration sensor is used to collect vibration data of the multi-rotor wind turbine;

[0009] The independent controller is configured to determine target vibration data corresponding to the independent rotor based on the vibration data and a target coefficient corresponding to the independent rotor, and determine a target tower damping corresponding to the independent rotor based on the target vibration data; wherein the target coefficient is determined based on a distance between an intersection of a tower of the multi-rotor wind turbine and a crossbeam length of the multi-rotor wind turbine and the independent rotor, wherein the independent rotor is one of the multiple rotors;

[0010] The independent pitch actuator is used to perform a pitch action according to the target tower damping.

[0011] Optionally, the common vibration sensor is further used to collect a yaw angle, wherein the yaw angle is an angle between the lateral direction and the beam, the lateral direction is perpendicular to the fore-and-aft direction, and the fore-and-aft direction corresponds to the wind direction;

[0012] The independent controller is further configured to determine target vibration data corresponding to the independent rotor based on the yaw angle, the vibration data, and a target coefficient corresponding to the independent rotor.

[0013] Optionally, the rotor of the multi-rotor wind turbine includes a first rotor and a second rotor, the distance between the intersection point and the first rotor is a first distance, the distance between the intersection point and the second rotor is a second distance, the sum of the first distance and the second distance is the length of the beam, and the system further includes a coefficient determination unit, configured to:

[0014] determining a first target coefficient corresponding to the first rotor according to the second distance and the length of the beam;

[0015] A second target coefficient corresponding to the second rotor is determined according to the first distance and the length of the beam.

[0016] Optionally, if the first distance is equal to the second distance, the first target coefficient and the second target coefficient are both half.

[0017] Optionally, the vibration data includes fore-aft acceleration, fore-aft velocity, lateral acceleration and lateral velocity, where the lateral direction is perpendicular to the fore-aft direction, and the target vibration data includes target fore-aft acceleration, target fore-aft velocity, target lateral acceleration and target lateral velocity corresponding to each rotor.

[0018] Optionally, the independent controller is used to:

[0019] Determining the forward and backward damping component corresponding to each rotor according to the target forward and backward acceleration, the target forward and backward velocity, a weighting factor, and a forward and backward damping component gain;

[0020] Determining a lateral damping component corresponding to the independent rotor according to a target lateral acceleration, a lateral damping component gain, a yaw angle, and an angle between blades included in the independent rotor; wherein the yaw angle is an angle between the lateral direction and the crossbeam;

[0021] The target tower damping corresponding to each rotor is determined according to the fore-aft damping component and the lateral damping component.

[0022] Optionally, the wind turbine is used for offshore wind power generation, and the system further includes a speed determination unit, configured to:

[0023] determining a fore-aft velocity based on the fore-aft acceleration, the tower model, and the oscillation driving force;

[0024] The lateral velocity is determined based on the force generated by the wind and waves caused by the wind turbine.

[0025] On the other hand, the present application provides a tower damping control method based on a multi-rotor wind turbine, which is applied to a tower damping control system based on a multi-rotor wind turbine. The system includes an independent controller and an independent pitch actuator corresponding to each rotor in the multi-rotor, and a common vibration sensor shared by the multiple rotors. The method includes:

[0026] Acquiring vibration data of the multi-rotor wind turbine collected by the common vibration sensor;

[0027] determining, by the independent controller, target vibration data corresponding to the independent rotor based on the vibration data and a target coefficient corresponding to the independent rotor; wherein the target coefficient is determined based on a distance between an intersection of a tower of the multi-rotor wind turbine and a crossbeam length of the multi-rotor wind turbine and the independent rotor, the independent rotor being one of the plurality of rotors;

[0028] A target tower damping corresponding to the independent rotor is determined according to the target vibration data, so that the independent pitch actuator performs a pitch action according to the target tower damping.

[0029] Optionally, determining, by the independent controller, a target tower damping corresponding to the independent rotor according to the target vibration data includes:

[0030] Target vibration data corresponding to the independent rotor is determined based on the yaw angle collected by the common vibration sensor, the vibration data, and the target coefficient corresponding to the independent rotor; wherein the yaw angle is the angle between the lateral direction and the beam, the lateral direction is perpendicular to the fore-and-aft direction, and the fore-and-aft direction corresponds to the wind direction.

[0031] Optionally, the rotor of the multi-rotor wind turbine includes a first rotor and a second rotor, the distance between the intersection and the first rotor is a first distance, the distance between the intersection and the second rotor is a second distance, and the sum of the first distance and the second distance is the length of the beam, and the method further includes:

[0032] determining a first target coefficient corresponding to the first rotor according to the second distance and the length of the beam;

[0033] A second target coefficient corresponding to the second rotor is determined according to the first distance and the length of the beam.

[0034] Optionally, if the first distance is equal to the second distance, the first target coefficient and the second target coefficient are both half.

[0035] On the other hand, the present application provides a computer device, the device comprising a processor and a memory:

[0036] The memory is used to store program code and transmit the program code to the processor;

[0037] The processor is configured to execute the method described above according to the instructions in the program code.

[0038] On the other hand, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the above aspects.

[0039] In another aspect, embodiments of the present application provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method described in the above aspects.

[0040] Compared with the prior art, the advantages of the above technical solution of this application are:

[0041] This application provides a tower damping control system for a multi-rotor wind turbine. The tower damping control system includes a common sensor shared by multiple rotors, an independent controller corresponding to each rotor, and an independent pitch actuator. Because different rotors may be located on different beam lengths, they may experience different forces and, consequently, different vibrations. Taking one of the multiple rotors (referred to as an independent rotor in this embodiment) as an example, target vibration data corresponding to the independent rotor is obtained by scaling the vibration data of the multi-rotor wind turbine. The target coefficient represents the degree of scaling and is determined based on the distance between the intersection of the tower of the multi-rotor wind turbine and the independent rotor within the beam length of the multi-rotor wind turbine. After collecting vibration data from the multi-rotor wind turbine via the common vibration sensor, the independent controller determines target vibration data for the independent rotor based on the vibration data and the target coefficient corresponding to the independent rotor. The independent controller then determines a target tower damping for the independent rotor based on the target vibration data, allowing the independent pitch actuator to perform pitch control according to the target tower damping. As a result, each rotor performs pitch control according to the required target tower damping, and the tower damping control system of the multi-rotor wind turbine does not need to have a central control unit, which reduces the manufacturing cost of the wind turbine, reduces the internal cable connection, and improves the reliability of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 A schematic diagram of a dual-rotor wind turbine provided in an embodiment of the present application;

[0044] Figure 2 A method for Figure 1 Schematic diagram of the tower damping control system of the dual-rotor wind turbine shown;

[0045] Figure 3 Provided in the embodiments of this application Figure 1 A top view of the dual-rotor wind turbine shown;

[0046] Figure 4 A flowchart of a tower damping control method based on a multi-rotor wind turbine provided in an embodiment of the present application;

[0047] Figure 5 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0049] To prevent tower oscillation, related technologies use a method that uses a central control unit to measure tower vibration (acceleration or velocity), then calculates a control reference for the nacelle unit corresponding to each rotor in the multi-rotor generator. Finally, this control reference is sent to the corresponding nacelle unit to control the pitch adjustment action of each rotor. However, this method requires a centralized control unit and a control unit for each rotor, resulting in a large number of control units, which increases the manufacturing cost of the multi-rotor wind turbine. In addition, the need to connect sensors or measuring equipment increases the number of cabling connections within the multi-rotor wind turbine, reducing the overall operational reliability of the multi-rotor wind turbine.

[0050] Based on this, an embodiment of the present application provides a tower damping control system for a multi-rotor wind turbine, which does not require the tower damping control system of the multi-rotor wind turbine to have a central control unit, reduces the manufacturing cost of the wind turbine, and at the same time reduces internal cable connections and improves the reliability of the wind turbine.

[0051] Among them, a multi-rotor wind turbine is a wind turbine with two or more rotors. Taking a dual-rotor wind turbine as an example, Figure 1 , this figure is a schematic diagram of a dual-rotor wind turbine provided by an embodiment of the present application, wherein the twin wind turbine 100 includes a first rotor 111 and a second rotor 112, a tower 120 and a beam 130, wherein the first rotor 111 and the second rotor 112 are mounted at both ends of the beam 130 and supported by the tower 120. It is understandable that the beam can be composed not only of a single beam but also of a triangular beam structure, and the present application does not make specific limitations on this. Furthermore, the principles of a more complex dual-rotor wind turbine with a related structure are also included in the principles described herein in the present application. Figure 1 The principle of the schematic diagram is described below and no specific limitation is given here.

[0052] A multi-rotor wind turbine is provided with at least one tower damping control system. In one tower damping control system, each rotor corresponds to an independent controller and an independent pitch actuator, as well as a common vibration sensor shared by multiple rotors.

[0053] Continuing with the example of a twin-rotor wind turbine, see Figure 2 , which is a diagram of a method for Figure 1 Figure 2 shows a schematic diagram of a tower damping control system for a dual-rotor wind turbine. The tower damping control system 200 includes an independent controller 201 and an independent pitch actuator 202 corresponding to the first rotor 111, an independent controller 203 and an independent pitch actuator 204 corresponding to the second rotor 112, and a common vibration sensor 205 shared by the first and second rotors.

[0054] The common vibration sensor, independent controller and independent pitch controller are described below respectively.

[0055] The common vibration sensor is used to collect vibration data of the multi-rotor wind turbine, so that each rotor can determine its corresponding target vibration data according to the vibration data, and then determine its corresponding tower damping, so as to perform pitch control.

[0056] As a possible implementation method, the common vibration sensor can send the collected vibration data to the independent controller corresponding to each rotor, or the independent controller corresponding to each rotor can actively obtain it from the common vibration sensor, or after the common vibration sensor collects the vibration data, it stores it in a storage device so that the independent controller corresponding to each rotor can obtain it from the storage device. This application does not make specific limitations on this, and technical personnel in this field can make settings according to actual needs.

[0057] Because different rotors are located on beams of varying lengths, they experience varying forces and vibrations, requiring different tower damping adjustments. Taking one of the multiple rotors (in this embodiment, referred to as an independent rotor) as an example, the vibration data corresponding to that independent rotor is the target vibration data. This target vibration data is scaled based on the vibration data of the multi-rotor wind turbine. The corresponding scaling level varies depending on the length of the beam in which the independent rotor is located.

[0058] Among them, the coefficients (scaling factors) are used to characterize the degree of scaling mentioned above, and the scaling degree is determined based on the distance between the tower intersection of the multi-rotor wind turbine and the independent rotor in the crossbeam length of the multi-rotor wind turbine. The tower intersection of the multi-rotor wind turbine is the intersection formed by the tower supporting the rotor wind turbine and the crossbeam. As a possible implementation method, the coefficients can be pre-stored in the independent controller of its corresponding rotor, and can also be obtained when the independent controller needs it. This application does not make specific restrictions on this, and those skilled in the art can set it according to actual needs. As a possible implementation method, the sum of the coefficients corresponding to each rotor is 1.

[0059] The independent controller corresponding to the independent rotor determines the target vibration data corresponding to the independent rotor based on the vibration data collected by the common sensor and the target coefficient corresponding to the independent rotor, and then determines the target tower damping corresponding to the independent rotor based on the target vibration data, so that the independent pitch actuator corresponding to the independent rotor performs the pitch action according to the target tower damping, thereby avoiding the problem of serious deflection of the wind turbine tower caused by oscillation.

[0060] As a possible implementation, the independent controller can include two functions, respectively implemented by a decentralizer and a tower damper. The decentralizer is used to determine target vibration data for each independent rotor based on vibration data collected by the common sensor and the target coefficients for each independent rotor. The tower damper is used to determine the target tower damping for each independent rotor based on the target vibration data. The target tower damping serves as a pitch reference for the independent pitch actuator to compensate for measured tower oscillations / vibrations.

[0061] Continue to see Figure 2 The independent controller 201 further includes a splitter 2011 and a tower damper 2012 , and the independent controller 203 further includes a splitter 2031 and a tower damper 2032 .

[0062] It should be noted that the independent controller is not limited to this and may also have other modular configurations that achieve the same effect. It should be noted that although the independent controller has been described as a separate splitter and tower damper, this is not intended to assign a specific physical structure to the modules. For example, the independent controller may be a separate firmware unit, or a separate functional software unit implemented on a common processing platform, such as a computer or programmable logic controller (PLC) running control software. Exemplarily, the splitter and tower damper are implemented as virtual modules of the computer or programmable logic controller running the software. However, the splitter and tower damper can be implemented as virtual modules or physical devices according to project needs, and this is not specifically limited here.

[0063] The above technical solution provides a tower damping control system for a multi-rotor wind turbine. The tower damping control system includes a common sensor shared by multiple rotors, an independent controller corresponding to each rotor, and an independent pitch actuator. Because different rotors may be located on different beam lengths, they experience different forces and, consequently, different vibrations. Taking one of the multiple rotors (in this embodiment, referred to as an independent rotor) as an example, target vibration data corresponding to the independent rotor is obtained by scaling the vibration data of the multi-rotor wind turbine. The target coefficient represents the degree of scaling and is determined based on the distance between the intersection of the tower of the multi-rotor wind turbine and the independent rotor within the beam length of the multi-rotor wind turbine. After collecting vibration data from the multi-rotor wind turbine via the common vibration sensor, the independent controller determines target vibration data for the independent rotor based on the vibration data and the target coefficient corresponding to the independent rotor. The target vibration data then determines a target tower damping for the independent rotor, allowing the independent pitch actuator to perform pitch control according to the target tower damping. As a result, each rotor performs pitch control according to the required target tower damping, and the tower damping control system of the multi-rotor wind turbine does not need to have a central control unit, which reduces the manufacturing cost of the wind turbine, reduces the internal cable connection, and improves the reliability of the wind turbine.

[0064] As a possible implementation, when a multi-rotor wind turbine is in a non-static condition, even if the independent pitch controllers perform pitch control according to the target tower damping, the multi-rotor wind turbine may still experience slight vibration. Static conditions refer to conditions where the wind speed remains constant for an extended period of time.

[0065] Analysis revealed that changes in wind speed can cause deviations in wind speed and fore-aft direction, leading to slight deviations in the target tower damping. Based on this, the public vibration sensor is also used to measure the yaw angle. The yaw angle is the angle between the side and the crossbeam, with the side perpendicular to the fore-aft direction, which corresponds to the wind direction.

[0066] See also Figure 3 , which is provided in the embodiment of this application Figure 1 The top view of the dual-rotor wind turbine shown in FIG. Figure 3 In the figure, the A-axis is the fore-aft direction, following the actual wind direction. The B-axis is the lateral direction, perpendicular to the fore-aft and lateral directions. The A-axis and the B-axis are perpendicular, forming the tower vibration coordinate system. The D-axis is the axis of the crossbeam, and the C-axis is perpendicular to the D-axis, forming the yaw coordinate system.

[0067] The independent pitch controller can perform in-plane (lateral) damping and out-of-plane (fore-aft) damping. If the rotor beam support structure is not perpendicular to the wind direction, the damping direction of the rotor will not match the measured motion direction. In this case, the B and D axes will produce yaw angles. .

[0068] Based on this, the independent controller is further configured to determine target vibration data for each rotor based on the yaw angle, vibration data, and target coefficients corresponding to each rotor. This avoids inaccurate target vibration data due to yaw angle, improves the accuracy of target tower damping, and overcomes the problem of slight vibration in multi-rotor wind turbines.

[0069] For the convenience of explanation, let's continue with Figure 1 and Figure 2 When there is a yaw angle, a tower damping control system for a multi-rotor wind turbine provided by an embodiment of the present application is described.

[0070] The public vibration sensor 205 is used to collect the vibration data and yaw angle generated by the dual-rotor wind turbine 100. The embodiment of the present application does not specifically limit the location of the common sensor, as long as it can collect vibration data for the multi-rotor wind turbine. For example, the common sensor 205 is placed at the top of the tower of the dual-rotor wind turbine.

[0071] As a possible implementation, vibration data can include fore-aft acceleration. , fore-aft velocity , lateral acceleration (Side sideacceleration) and side-side velocity .

[0072] Since the independent controller 203 and the independent controller 201 have the same functions, and the independent pitch actuator 204 and the independent pitch actuator 202 have the same functions, the independent controller 201 and the independent pitch actuator 202 are used as an example for description below, that is, the first rotor 111 is described as an independent rotor.

[0073] The independent controller 201 is used to obtain the vibration data collected by the common vibration sensor 205, and then adjust the vibration data according to the vibration data and the target coefficient corresponding to the first rotor 111. and yaw angle Target vibration data corresponding to the first rotor 111 is determined, and a target tower damping corresponding to the first rotor is determined based on the target vibration data.

[0074] Due to the yaw angle Therefore, it is necessary to convert the vibration data based on the tower vibration coordinate system into data based on the yaw coordinate system. The details are as follows:

[0075] ; ;

[0076] Among them, in the tower vibration coordinate system, the vibration data includes the forward and backward acceleration , forward and backward speed , lateral acceleration and lateral speed In the yaw coordinate system, the vibration data includes the forward and backward acceleration , lateral acceleration , forward and backward speed , lateral speed .

[0077] Since different rotors are located at different beam lengths, their forces are different, and the vibrations they feel are also different. Therefore, the vibration data corresponding to the rotor should be scaled according to the vibration data of the multi-rotor wind turbine. In this embodiment, the vibration data of the dual-rotor wind turbine 100 and the target coefficient corresponding to the first rotor 111 can be used to calculate the vibration data of the dual-rotor wind turbine 100. Target vibration data corresponding to the first rotor 111 is determined.

[0078] Before continuing to introduce the functions of the independent controller 201, the coefficient determination unit is first introduced. The coefficient determination unit is used to determine the coefficient corresponding to each rotor. It can be built into the independent controller or placed outside the independent controller. This application does not make specific restrictions on this.

[0079] Next, the coefficient determination unit determines the first target coefficient corresponding to the first rotor 111. and the second target coefficient corresponding to the second rotor 112 For illustration. Among them, for example, + =1.

[0080] The coefficient determination unit is used to determine a first target coefficient corresponding to the first rotor according to the second distance and the length of the beam; and to determine a second target coefficient corresponding to the second rotor according to the first distance and the length of the beam.

[0081] The distance between the first rotor 111 and the intersection point M is the first distance, which can be expressed as , the distance between the second rotor 112 and the intersection point M is the second distance, which can be expressed as The length of the beam is the sum of the first distance and the second distance, which can be expressed as + .

[0082] Therefore, the first target coefficient and the second target coefficient It can be expressed as the following formula:

[0083] ; ;

[0084] As a possible implementation method, if the first distance is equal to the second distance, the first target coefficient and the second target coefficient are both half, that is, At this point, for a dual-rotor wind turbine, it is a relatively efficient design.

[0085] The independent controller 201 is described below. It can be understood that the first rotor 111 is used as an independent rotor for description. The target coefficient corresponding to the first rotor 111 is the first target coefficient mentioned above. .

[0086] After the independent controller 201 obtains the vibration data collected by the common vibration sensor 205, it adjusts the vibration data according to the target coefficient corresponding to the first rotor 111. and yaw angle Determining the target vibration data corresponding to the first rotor 111 can be expressed as the following formula:

[0087] ; ; ; ;

[0088] The target vibration data corresponding to the first rotor 111 includes the target forward and backward acceleration , target forward and backward speed , target lateral acceleration and target lateral velocity .

[0089] Similarly, the target vibration data corresponding to the second rotor 112 determined by the independent controller 203 includes the target forward and backward acceleration , target forward and backward speed , target lateral acceleration and target lateral velocity , which can be expressed as follows:

[0090] ; ; ; ;

[0091] After obtaining the target vibration data, the independent controller determines the target tower damping corresponding to the first rotor according to the target vibration data. For example, the target tower damping may be determined in the same manner as determining the tower damping for a wind turbine with a single rotor, specifically:

[0092] Determining the forward and backward damping component corresponding to each rotor according to the target forward and backward acceleration, the target forward and backward velocity, the weighting factor, and the forward and backward damping component gain;

[0093] determining a lateral damping component corresponding to the independent rotor according to the target lateral acceleration, the lateral damping component gain, the yaw angle, and the angle between the blades included in the independent rotor;

[0094] The target tower damping corresponding to each rotor is determined according to the fore-aft damping component and the lateral damping component.

[0095] Assume that the rotor includes three blades, which correspond to unit 1, unit 2, and unit 3. The following first describes the determination of the forward and backward damping components.

[0096] The front and rear damping components are completed by the total pitch action. If the pitch control component of each blade is are all the same. Taking unit 1 as an example, it can be expressed as follows:

[0097] ;

[0098] in, It is the gain of the fore-aft damping component calculated by design, which can be obtained using linear model analysis or trial-and-error methods of aeroelastic simulation models. is a weighting factor that weights the acceleration or velocity and can be obtained by adjusting the linear control design analysis, or by trial and error in aeroelastic simulation models or real wind turbines.

[0099] After introducing the front and rear damping components, we will continue to explain the lateral damping components. The system can perform lateral damping through separate pitch actions. The lateral damping components are .

[0100] First, low-pass filtering Get the converted acceleration , to remove the frequency and rotor speed at the tower frequency.

[0101] Then, the converted acceleration and lateral damping component gain Multiplication can be expressed as follows:

[0102] ;

[0103] Among them, the lateral damping component gain Should be negative to counteract vibrations. It can be obtained by tuning, by linear feedback loop design and / or by simulation and turbine testing.

[0104] Finally, the lateral damping component can be obtained as follows:

[0105] ;

[0106] The angles between the three blades of the independent rotor are 2π / 3 and 4π / 3 respectively.

[0107] Similarly, if the independent rotor consists of two blades, the angle between the blades is generally π, then the above formula can also be expressed as follows:

[0108] ;

[0109] Finally, the target tower damping corresponding to each rotor is determined according to the fore-aft damping component and the lateral damping component, so that the independent pitch actuator performs pitch action according to the target tower damping, such as total pitch action and individual pitch action.

[0110] As a possible implementation manner, the target tower damping may be further added to other pitch control components such as power and rotor speed control calculations to perform corresponding control, which is not specifically limited in this application.

[0111] It should be noted that the pitch action is calculated using the same sampling frequency as other controllers in the dual-rotor wind turbine (such as the rotor speed controller). The benefit of running all controllers at the same frequency is that it simplifies the design and tuning of the general controller.

[0112] As a possible implementation, when the wind turbine is used for offshore wind power generation, the system provided in the embodiment of the present application further includes a speed determination unit for:

[0113] Determine the fore-aft velocity based on the fore-aft acceleration, the tower model, and the oscillation driving force;

[0114] The lateral velocity is determined from the force generated by the wind waves caused by the wind turbine.

[0115] A Kalman filter can be formed based on a mathematical model of the tower's velocity and acceleration, driven by the fore-aft acceleration and the forces generated by the wind waves caused by the wind turbine in the lateral damping. The Kalman filter determines the fore-aft velocity based on the measured data, a given tower model, and the oscillation driving force. The oscillation driving force can be calculated from measurements on the wind turbine, such as thrust from blade load sensors or wave loads from tower strain gauges.

[0116] Alternatively, if an extended Kalman filter or an unscented Kalman filter is used, a more advanced Kalman filter can be used to estimate the velocity of the tower and the forces generated by the wind waves caused by the wind turbine.

[0117] In order to make the technical solution provided by the embodiment of the present application clearer, Figure 4 , a tower damping control method based on a multi-rotor wind turbine provided in an embodiment of the present application is described, the method comprising the following steps:

[0118] S401: Acquire vibration data of a multi-rotor wind turbine collected by a common vibration sensor.

[0119] S402: Determine target vibration data corresponding to the independent rotor according to the vibration data and the target coefficient corresponding to the independent rotor through the independent controller.

[0120] The target coefficient is determined according to a distance between an intersection of a tower of the multi-rotor wind turbine generator and an independent rotor in a beam length of the multi-rotor wind turbine generator, where the independent rotor is one of the multiple rotors.

[0121] S403: Determine a target tower damping corresponding to the independent rotor according to the target vibration data, so that the independent pitch actuator performs a pitch action according to the target tower damping.

[0122] As a possible implementation manner, determining, by the independent controller, the target tower damping corresponding to the independent rotor according to the target vibration data includes:

[0123] Target vibration data corresponding to the independent rotor is determined based on the yaw angle collected by the common vibration sensor, the vibration data, and the target coefficient corresponding to the independent rotor; wherein the yaw angle is the angle between the lateral direction and the beam, the lateral direction is perpendicular to the fore-and-aft direction, and the fore-and-aft direction corresponds to the wind direction.

[0124] As a possible implementation, the rotor of the multi-rotor wind turbine includes a first rotor and a second rotor, the distance between the intersection and the first rotor is a first distance, the distance between the intersection and the second rotor is a second distance, and the sum of the first distance and the second distance is the length of the beam, and the method further includes:

[0125] determining a first target coefficient corresponding to the first rotor according to the second distance and the length of the beam;

[0126] A second target coefficient corresponding to the second rotor is determined according to the first distance and the length of the beam.

[0127] As a possible implementation manner, if the first distance is equal to the second distance, the first target coefficient and the second target coefficient are both half.

[0128] As a possible implementation method, the vibration data includes fore-aft acceleration, fore-aft velocity, lateral acceleration and lateral velocity, where the lateral direction is perpendicular to the fore-aft direction, and the target vibration data includes target fore-aft acceleration, target fore-aft velocity, target lateral acceleration and target lateral velocity corresponding to each rotor.

[0129] As a possible implementation manner, determining the target tower damping corresponding to the independent rotor according to the target vibration data includes:

[0130] Determining the forward and backward damping component corresponding to each rotor according to the target forward and backward acceleration, the target forward and backward velocity, a weighting factor, and a forward and backward damping component gain;

[0131] Determining a lateral damping component corresponding to the independent rotor according to a target lateral acceleration, a lateral damping component gain, a yaw angle, and an angle between blades included in the independent rotor; wherein the yaw angle is an angle between the lateral direction and the crossbeam;

[0132] The target tower damping corresponding to each rotor is determined according to the fore-aft damping component and the lateral damping component.

[0133] As a possible implementation, the wind turbine is used for offshore wind power generation, and the method further includes:

[0134] determining a fore-aft velocity based on the fore-aft acceleration, the tower model, and the oscillation driving force;

[0135] The lateral velocity is determined based on the force generated by the wind and waves caused by the wind turbine.

[0136] As can be seen from the above technical solution, the tower damping control method for a multi-rotor wind turbine provided in the embodiments of the present application is applied to a tower damping control system for a multi-rotor wind turbine. The tower damping control system includes a common sensor shared by multiple rotors, an independent controller corresponding to each rotor, and an independent pitch actuator. Because different rotors may be located on different beam lengths, they are subjected to different forces and experience different vibration magnitudes. Taking one of the multiple rotors, an independent rotor, as an example, the target vibration data corresponding to the independent rotor is obtained by scaling the vibration data of the multi-rotor wind turbine. The target coefficient represents the degree of scaling and is determined based on the distance between the intersection of the tower of the multi-rotor wind turbine and the independent rotor within the beam length of the multi-rotor wind turbine. After collecting the vibration data of the multi-rotor wind turbine via the common vibration sensor, the independent controller determines the target vibration data for the independent rotor based on the vibration data and the target coefficient corresponding to the independent rotor. The target tower damping corresponding to the independent rotor is determined based on the target vibration data, so that the independent pitch actuator performs pitch control according to the target tower damping. As a result, each rotor performs pitch control according to the required target tower damping, and the tower damping control system of the multi-rotor wind turbine does not need to have a central control unit, which reduces the manufacturing cost of the wind turbine, reduces the internal cable connection, and improves the reliability of the wind turbine.

[0137] The present application also provides a computer device. Figure 5 , which shows a structural diagram of a computer device provided by an embodiment of the present application, such as Figure 5 As shown, the device includes a memory 510 and a processor 520:

[0138] The memory 510 is used to store program codes and transmit the program codes to the processor;

[0139] The processor 520 is configured to execute any one of the tower damping control methods based on a multi-rotor wind turbine provided in the above embodiments according to the instructions in the program code.

[0140] An embodiment of the present application provides a computer-readable storage medium for storing a computer program for executing any one of the tower damping control methods based on a multi-rotor wind turbine provided in the above embodiments.

[0141] The present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the tower damping control method for a multi-rotor wind turbine provided in various optional implementations of the above aspects.

[0142] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0143] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or plural.

[0144] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0145] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0146] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tower damping control system for a multi-rotor wind turbine, characterized in that: The system includes: an independent controller and an independent pitch actuator corresponding to each rotor in the multi-rotor, and a common vibration sensor shared by the multi-rotors; The common vibration sensor is used to collect vibration data of the multi-rotor wind turbine; The independent controller is configured to determine target vibration data corresponding to the independent rotor based on the vibration data and a target coefficient corresponding to the independent rotor, and determine a target tower damping corresponding to the independent rotor based on the target vibration data; wherein the target coefficient is determined based on a distance between an intersection of a tower of the multi-rotor wind turbine and a crossbeam length of the multi-rotor wind turbine and the independent rotor, wherein the independent rotor is one of the multi-rotors; The independent pitch actuator is used to perform a pitch action according to the target tower damping.

2. The system according to claim 1, wherein: The common vibration sensor is further used to collect a yaw angle, wherein the yaw angle is the angle between the lateral direction and the crossbeam, the lateral direction is perpendicular to the fore-aft direction, and the fore-aft direction corresponds to the wind direction; The independent controller is further configured to determine target vibration data corresponding to the independent rotor based on the yaw angle, the vibration data, and a target coefficient corresponding to the independent rotor.

3. The system according to claim 1, wherein: The rotors of the multi-rotor wind turbine include a first rotor and a second rotor, a distance between the intersection point and the first rotor is a first distance, a distance between the intersection point and the second rotor is a second distance, and a sum of the first distance and the second distance is a length of the beam. The system further includes a coefficient determination unit configured to: determining a first target coefficient corresponding to the first rotor according to the second distance and the length of the beam; A second target coefficient corresponding to the second rotor is determined according to the first distance and the length of the beam.

4. The system according to claim 3, characterized in that If the first distance is equal to the second distance, the first target coefficient and the second target coefficient are both half.

5. The system according to any one of claims 1 to 4, characterized in that: The vibration data includes forward and backward acceleration, forward and backward velocity, lateral acceleration and lateral velocity, where the lateral direction is perpendicular to the forward and backward direction, and the target vibration data includes target forward and backward acceleration, target forward and backward velocity, target lateral acceleration and target lateral velocity corresponding to each rotor.

6. The system according to claim 5, characterized in that The independent controller is used to: Determining the forward and backward damping component corresponding to each rotor according to the target forward and backward acceleration, the target forward and backward velocity, a weighting factor, and a forward and backward damping component gain; Determining a lateral damping component corresponding to the independent rotor according to a target lateral acceleration, a lateral damping component gain, a yaw angle, and an angle between blades included in the independent rotor; wherein the yaw angle is an angle between the lateral direction and the crossbeam; The target tower damping corresponding to each rotor is determined according to the fore-aft damping component and the lateral damping component.

7. The system according to claim 1, wherein: The wind turbine is used for offshore wind power generation, and the system further includes a speed determination unit for: Determine the fore-aft velocity based on the fore-aft acceleration, the tower model, and the oscillation driving force; The lateral velocity is determined based on the force generated by the wind and waves caused by the wind turbine.

8. A tower damping control method for a multi-rotor wind turbine, applied to a tower damping control system for a multi-rotor wind turbine, the system comprising an independent controller and an independent pitch actuator corresponding to each rotor in the multi-rotor, and a common vibration sensor shared by the multi-rotor, characterized in that: The method comprises: Acquiring vibration data of the multi-rotor wind turbine collected by the common vibration sensor; Determining, by the independent controller, target vibration data corresponding to the independent rotor based on the vibration data and a target coefficient corresponding to the independent rotor; wherein the target coefficient is determined based on a distance between an intersection of a tower of the multi-rotor wind turbine and a crossbeam length of the multi-rotor wind turbine and the independent rotor, the independent rotor being one of the multi-rotors; A target tower damping corresponding to the independent rotor is determined according to the target vibration data, so that the independent pitch actuator performs a pitch action according to the target tower damping.

9. The method according to claim 8, characterized in that Determining, by the independent controller, a target tower damping corresponding to the independent rotor according to the target vibration data includes: Target vibration data corresponding to the independent rotor is determined based on the yaw angle collected by the common vibration sensor, the vibration data, and the target coefficient corresponding to the independent rotor; wherein the yaw angle is the angle between the lateral direction and the beam, the lateral direction is perpendicular to the fore-and-aft direction, and the fore-and-aft direction corresponds to the wind direction.

10. The method according to claim 8, characterized in that The rotors of the multi-rotor wind turbine include a first rotor and a second rotor, a distance between the intersection point and the first rotor is a first distance, a distance between the intersection point and the second rotor is a second distance, and a sum of the first distance and the second distance is a length of the beam, and the method further includes: determining a first target coefficient corresponding to the first rotor according to the second distance and the length of the beam; A second target coefficient corresponding to the second rotor is determined according to the first distance and the length of the beam.

11. The method according to claim 10, characterized in that If the first distance is equal to the second distance, the first target coefficient and the second target coefficient are both half.

12. A computer device, characterized in that: The device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the method according to any one of claims 8 to 11 according to the instructions in the program code.

13. A computer storable medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 8 to 11.

14. A computer program product, characterized in that The method comprises a computer program or an instruction; when the computer program or the instruction is executed by a processor, the method according to any one of claims 8 to 11 is executed.

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